Road resource conflict resolution algorithm

ABSTRACT

A road resource is identified, according to one or more maneuver sharing intent messages received to the vehicle via a transceiver of a vehicle, where the road resource is contested between the vehicle and one or more other vehicles and includes a portion of a roadway to be traversed by the vehicle and also the one or more other vehicles. A conflict resolution procedure is performed to determine whether the vehicle gains access to the road resource, wherein the conflict resolution procedure is independently performed by each of the vehicle and the one or more other vehicles. One of the vehicle or the one or more other vehicles is granted access to the road resource based on the conflict resolution procedure.

TECHNICAL FIELD

Aspects of the present disclosure generally relate to road resourceconflict resolution.

BACKGROUND

V2X communication allows vehicles to exchange information with othervehicles, as well as with infrastructure, pedestrians, networks, andother devices. Vehicle-to-infrastructure (V2I) communication enablesapplications to facilitate and speed up communication or transactionsbetween vehicles and infrastructure.

SUMMARY

In one or more illustrative examples, a vehicle for performing roadresource conflict resolution includes a transceiver and a processor. Theprocessor is programmed to identify, according to one or more maneuversharing intent messages received to the vehicle via the transceiver, aroad resource that is contested between the vehicle and one or moreother vehicles, the road resource including a portion of a roadway to betraversed by the vehicle and also the one or more other vehicles,perform a conflict resolution procedure to determine whether the vehiclegains access to the road resource, wherein the conflict resolutionprocedure is independently performed by each of the vehicle and the oneor more other vehicles, and grant one of the vehicle or the one or moreother vehicles access to the road resource based on the conflictresolution procedure.

In one or more illustrative examples, a method for performing roadresource conflict resolution, includes identifying, accordingly to oneor more maneuver sharing intent messages received to the vehicle via atransceiver of a vehicle, a road resource that is contested between thevehicle and one or more other vehicles, the road resource including aportion of a roadway to be traversed by the vehicle and also the one ormore other vehicles; performing a conflict resolution procedure todetermine whether the vehicle gains access to the road resource, whereinthe conflict resolution procedure is independently performed by each ofthe vehicle and the one or more other vehicles; granting one of thevehicle or the one or more other vehicles access to the road resourcebased on the conflict resolution procedure; directing the vehicle toutilize the road resource responsive to the conflict resolutionprocedure deeming the vehicle to have access to the road resource; anddirecting the vehicle not to utilize the road resource responsive to theconflict resolution procedure deeming another vehicle to have access tothe road resource.

In one or more illustrative examples, a non-statutory computer-readablemedium includes instructions that, when executed by a processor of avehicle, cause the vehicle to perform operations including to identify,according to one or more maneuver sharing intent messages received tothe vehicle via a transceiver of a vehicle, a road resource that iscontested between the vehicle and one or more other vehicles, the roadresource including a portion of a roadway to be traversed by the vehicleand also the one or more other vehicles, wherein the one or moremaneuver sharing intent messages are broadcast by the one or more othervehicles, each of the one or more maneuver sharing intent messagesincluding data with respect to the sender of the respective connectedmessage, the data indicating a momentum of the sender, a priority of thesender, an urgency of the sender, an intended trajectory of the sender,and road resources required for use by the sender; perform a conflictresolution procedure to determine whether the vehicle gains access tothe road resource, wherein the conflict resolution procedure isindependently performed by each of the vehicle and the one or more othervehicles; grant one of the vehicle or the one or more other vehiclesaccess to the road resource based on the conflict resolution procedure;direct the vehicle to utilize the road resource responsive to theconflict resolution procedure deeming the vehicle to have access to theroad resource; and direct the vehicle not to utilize the road resourceresponsive to the conflict resolution procedure deeming another vehicleto have access to the road resource.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates an example system for the performance of roadresource conflict resolution including vehicles traversing a roadway;

FIG. 2 illustrates an example detail of a connected message includinginformation for use in road resource conflict resolution;

FIG. 3 illustrates an example of a maneuver of a lane change type;

FIG. 4 illustrates an example of a maneuver of a lane merge type;

FIG. 5 illustrates an example of a maneuver of an intersection crossingtype;

FIG. 6 illustrates an example aspect of a road resource conflictresolution process with respect to vehicle momentum;

FIG. 7 illustrates an example aspect of a road resource conflictresolution process with respect to vehicle urgency;

FIG. 8 illustrates an example aspect of a road resource conflictresolution process with respect to vehicle priority; and

FIG. 9 illustrates an example aspect of a road resource conflictresolution process with respect to tiebreakers.

DETAILED DESCRIPTION

Embodiments of the present disclosure are described herein. It is to beunderstood, however, that the disclosed embodiments are merely examplesand other embodiments can take various and alternative forms. Thefigures are not necessarily to scale; some features could be exaggeratedor minimized to show details of particular components. Therefore,specific structural and functional details disclosed herein are not tobe interpreted as limiting, but merely as a representative basis forteaching one skilled in the art to variously employ the embodiments. Asthose of ordinary skill in the art will understand, various featuresillustrated and described with reference to any one of the figures canbe combined with features illustrated in one or more other figures toproduce embodiments that are not explicitly illustrated or described.The combinations of features illustrated provide representativeembodiments for typical applications. Various combinations andmodifications of the features consistent with the teachings of thisdisclosure, however, could be desired for particular applications.

Maneuvers may be performed by traffic participants such as vehicles.These maneuvers may include (i) lane changes, (ii) enteringintersections, (iii) using on/off ramps, (iv) continuing in straightlanes, and/or (iv) any general adjustment of vehicle orientation. Theintent of a traffic participant to make the maneuver may be shared withother traffic participants potentially involved in the maneuver. UsingV2X communication, a vehicle may broadcast a maneuver sharing intentmessage indicating that the vehicle requires use of a road resource.

A conflict arises when two or more traffic participants contend for acommon road resource or multiple road resources that partially overlap.As described herein, a conflict resolution procedure may be utilizedwhere each vehicle runs an identical decision-making algorithm,distributed to allow the vehicles to reach the same distributed decisionwhether or not to proceed with the maneuver. Specifically, in thedescribed conflict resolution algorithm, a winner that will temporarilyoccupy a contended road space will be independently determined by thevehicles as part of negotiation. Negotiation among contending vehiclesis conducted for acquiring the parameters necessary to run theindependent decision-making algorithm at each vehicle.

FIG. 1 illustrates an example system 100 for the performance of roadresource conflict resolution including vehicles 102 traversing a roadway116. The vehicle 102 may include various types of automobile, crossoverutility vehicle (CUV), sport utility vehicle (SUV), truck, recreationalvehicle (RV), boat, plane or other mobile machine for transportingpeople or goods. Such vehicles 102 may be human-driven or autonomous. Inmany cases, the vehicle 102 may be powered by an internal combustionengine. As another possibility, the vehicle 102 may be a batteryelectric vehicle (BEV) powered by one or more electric motors. As afurther possibility, the vehicle 102 may be a hybrid electric vehicle(HEV) powered by both an internal combustion engine and one or moreelectric motors, such as a series hybrid electric vehicle (SHEV), aparallel hybrid electrical vehicle (PHEV), or a parallel/series hybridelectric vehicle (PSHEV). Alternatively, the vehicle 102 may be anAutomated Vehicle (AV). The level of automation may vary between variantlevels of Driver Assistance technology to a fully automatic, driverlessvehicle. As the type and configuration of vehicle 102 may vary, thecapabilities of the vehicle 102 may correspondingly vary. As some otherpossibilities, vehicles 102 may have different capabilities with respectto passenger capacity, towing ability and capacity, and storage volume.For title, inventory, and other purposes, vehicles 102 may be associatedwith unique identifiers, such as VINs. It should be noted that whileautomotive vehicles 102 are being used as examples of trafficparticipants, other types of traffic participants may additionally oralternately be used, such as bicycles, scooters, and pedestrians, whichmay be equipped with V2X technology.

The vehicle 102 may include a plurality of controllers 104 configured toperform and manage various vehicle 102 functions under the power of thevehicle battery and/or drivetrain. As depicted, the example vehiclecontrollers 104 are represented as discrete controllers 104-A through104-G. However, the vehicle controllers 104 may share physical hardware,firmware, and/or software, such that the functionality from multiplecontrollers 104 may be integrated into a single controller 104, and thatthe functionality of various such controllers 104 may be distributedacross a plurality of controllers 104.

As some non-limiting vehicle controller 104 examples: a powertraincontroller 104-A may be configured to provide control of engineoperating components (e.g., idle control components, fuel deliverycomponents, emissions control components, etc.) and for monitoringstatus of such engine operating components (e.g., status of enginecodes); a body controller 104-B may be configured to manage variouspower control functions such as exterior lighting, interior lighting,keyless entry, remote start, and point of access status verification(e.g., closure status of the hood, doors and/or trunk of the vehicle102); a radio transceiver controller 104-C may be configured tocommunicate with key fobs, mobile devices, or other local vehicle 102devices; an autonomous controller 104-D may be configured to providecommands to control the powertrain, steering, or other aspects of thevehicle 102; a climate control management controller 104-E may beconfigured to provide control of heating and cooling system components(e.g., compressor clutch, blower fan, temperature sensors, etc.); aglobal positioning system (GPS) controller 104-F may be configured toprovide vehicle location information; and a human-machine interface(HMI) controller 104-G may be configured to receive user input viavarious buttons or other controls, as well as provide vehicle statusinformation to a driver, such as fuel level information, engineoperating temperature information, and current location of the vehicle102.

The vehicle bus 106 may include various methods of communicationavailable between the vehicle controllers 104, as well as between theTCU 108 and the vehicle controllers 104. As some non-limiting examples,the vehicle bus 106 may include one or more of a vehicle controller areanetwork (CAN), an Ethernet network, and a media-oriented system transfer(MOST) network. Further aspects of the layout and number of vehiclebuses 106 are discussed in further detail below.

The TCU 108 may include network hardware configured to facilitatecommunication between the vehicle controllers 104 and with other devicesof the system 100. For example, the TCU 108 may include or otherwiseaccess a cellular modem 110 configured to facilitate communication withother vehicles 102 or with infrastructure. The TCU 108 may, accordingly,be configured to communicate over various protocols, such as with acommunication network over a network protocol (such as Uu). The TCU 108may, additionally, be configured to communicate over a broadcastpeer-to-peer protocol (such as PC5), to facilitate C-V2X communicationswith devices such as other vehicles 102. It should be noted that theseprotocols are merely examples, and different peer-to-peer and/orcellular technologies may be used.

The TCU 108 may include various types of computing apparatus in supportof performance of the functions of the TCU 108 described herein. In anexample, the TCU 108 may include one or more processors 112 configuredto execute computer instructions, and a storage 114 medium on which thecomputer-executable instructions and/or data may be maintained. Acomputer-readable storage medium (also referred to as aprocessor-readable medium or storage 114) includes any non-transitory(e.g., tangible) medium that participates in providing data (e.g.,instructions) that may be read by a computer (e.g., by theprocessor(s)). In general, the processor 112 receives instructionsand/or data, e.g., from the storage 114, etc., to a memory and executesthe instructions using the data, thereby performing one or moreprocesses, including one or more of the processes described herein.Computer-executable instructions may be compiled or interpreted fromcomputer programs created using a variety of programming languagesand/or technologies, including, without limitation, and either alone orin combination, JAVA, C, C++, C#, FORTRAN, PASCAL, VISUAL BASIC, PYTHON,JAVA SCRIPT, PERL, PL/SQL, etc.

The TCU 108 may be configured to include one or more interfaces fromwhich vehicle information may be sent and received. In an example, theTCU 108 may be configured to facilitate the collection of connectedvehicle data and/or other vehicle information from the vehiclecontrollers 104 connected to the one or more vehicle buses 106. Whileonly a single vehicle bus 106 is illustrated, it should be noted that inmany examples, multiple vehicle buses 106 are included, with a subset ofthe controllers 104 connected to each vehicle bus 106. Accordingly, toaccess a given controller 104, the TCU 108 may be configured to maintaina mapping of which vehicle buses 106 are connected to which controllers104, and to access the corresponding vehicle bus 106 for a controller104 when communication with that particular controller 104 is desired.

The TCU 108 may be further configured to periodically transmit connectedmessages 120 for reception by other vehicles 102. For instance, theperiodicity may be on the order of every ten milliseconds. The TCU 108may be further configured to receive connected messages 120 from othervehicles 102. In an example, the management of sending and receiving ofconnected vehicle data may be handled by a connected application 118executed by the TCU 108. The connected messages 120 may includecollected information retrieved from the controllers 104 over thevehicle buses 106. In many examples, the collected information data mayinclude information useful for autonomous vehicle operations ordriver-assistance vehicle operations. The connected vehicle datainformation retrieved by the TCU 108 may include, as some non-limitingexamples, latitude, longitude, time, heading angle, speed, lateralacceleration, longitudinal acceleration, yaw rate, throttle position,brake status, steering angle, headlight status, wiper status, externaltemperature, turn signal status, vehicle length, vehicle width, vehiclemass, and bumper height. The connected vehicle data information may alsoinclude, weather data (such as ambient temperature, ambient airpressure, etc.), traction control status, wiper status, or other vehiclestatus information (such as the status of exterior vehicle lights, typeof vehicle, ABS system status, etc.). In one example, the connectedmessages 120 may take the form of BSM messages as described in the SAEJ2735.

Vehicles traversing the roadway 116 may request use of road resources122. As shown, an example road resource 122 is indicated as being in theforward travel path of the vehicle 102. More generally, each roadresource 122 may be defined as a region in space and time that is to beoccupied by a vehicle 102. The road resource 122 may accordingly havevarious characteristics, including shape characteristics, locationcharacteristics, and temporal characteristics.

The shape characteristics may define the boundaries of the road resource122. In one example, these boundaries may be of the form of a box typewith a defined width, length, and height. In another examples, theseboundaries may be of a spherical type with defined radius. It should benoted that these are merely examples, and the specific shape defined bythe shape characteristics may vary from implementation to implementationor from road resource 122 to road resource 122 within the sameimplementation.

The location characteristics may define the location of the roadresource 122 along the roadway 116. In an example, the shape of roadresource 122 may be defined by its center, such as at a GNSS position(latitude, longitude, and elevation). In another example, the shape maybe centered with lateral, longitudinal, and elevation displacement withrespect to a current (BSM-based) position of the vehicle 102.

The temporal characteristics may define the timing during which the roadresource 122 is required. In an example, the temporal characteristicsmay define a start time of when the road resource 122 may be occupiedand an end time (or duration of time from the start time) when the roadresource 122 must be vacated. These times may be defined with respect tocurrent time. Current time may be reflected with respect to the BSMs, orin other examples with respect to other messaging between the vehicles102 such as cellular communications.

While not shown, in some examples traffic participants may additionallyinvolve communication via one or more roadside units (RSUs). The RSU maybe a device with processing capabilities and networking capabilities,and may be designed to be placed in proximity of the roadway 116 for usein communicating with the vehicles 102. In an example, the RSU mayinclude hardware configured to communicate over the broadcastpeer-to-peer protocol (such as PC5), to facilitate C-V2X communicationswith the vehicles 102. The RSU may, accordingly, be able to communicatewith multiple vehicles 102 along a specific roadway 116 or in a specificarea. The RSU may also have wired or wireless backhaul capability toallow for communication with other elements of a traffic control system,via e.g., Ethernet, or cellular connection to the cellular networkinfrastructure, for example over Uu interface.

As described in further detail, using the connected application 118 thevehicles 102 may exchange information to coordinate maneuvers involvinguse by the vehicles 102 of the road resources 122. These maneuvers mayinclude, as some examples, lane changes, lane merges, or intersectioncrossings. This messaging to coordinate the maneuvers may be done apartfrom the broadcast of BSMs.

FIG. 2 illustrates an example detail 200 of a connected message 120including information for use in road resource conflict resolution. Toresolve a conflict of interest between multiple vehicles 102 relating toa common road resource, a vehicle 102 generates information to beexchanged as part of the maneuver sharing message handshaking withneighboring vehicles 102. As shown, this information includes vehiclemomentum data 202, priority data 204, urgency data 206, intendedtrajectory data 208, and target road resource data 210. This informationmay be included in connected messages 120 to be sent to other vehicles102. These messages may be referred to as maneuver sharing intentmessages.

The dynamics of a vehicle 102, such as speed, turning rate (yaw), andacceleration along with its mass determine its vehicle momentum 202.When one vehicle 102 has a high amount of momentum, regardless ofwhether it is a sedan, an SUV, a truck, an ambulance, or a firetruck, itmay be harder for that vehicle 102 to maneuver as compared with another.Hence, information with respect to the vehicle momentum 202 may be ofprimary value for assisting in determining a winner for access to a roadresource 122. In situations in which the mass of the vehicle 102 isunavailable or unknown, then vehicle 102 volume (vehiclelength×width×height) or area (length×width) may be used as proxy formass to estimate the vehicle momentum 202 (e.g., using speed and turningrate).

The priority data 204 may indicate information with respect to relativepriority of the vehicle 102. The priority data 204 may be based onvarious factors deemed relevant for the specific implementation of theroad resource conflict resolution. In one example, the priority couldrelate to the type of the vehicle 102, e.g., whether the vehicle 102 isa sedan, SUV, truck, ambulance, or firetruck, for instance. In anotherexample, emergency vehicles 102 may be assigned a higher priority valueas compared to non-emergency vehicles 102. In an example, largervehicles 102 may be assigned a higher priority value than smallervehicles 102. In another example, vehicles 102 with more occupants maybe assigned a higher priority than vehicles with fewer occupants.

The urgency data 206 may indicate information with respect to aquantitative determination of how soon the vehicle 102 will perform themaneuver. For instance, this quantitative measurement of urgency mayinclude a distance and/or an estimated time before which the vehicleintends to perform the maneuver. The urgency data 206 may also includeother optional information with respect to the circumstances of themaneuver, including an indication of a situation such as (i) a slowvehicle ahead, (ii) a ramp ahead, (iii) an exit to be taken ahead, (iv)road construction ahead, (v) a stopped vehicle ahead, (vi)debris/pothole ahead etc. A cause of the urgency, such as one or more ofthe enumerated examples (i)-(vi) above, may be incorporated into theurgency data 206.

The intended trajectory data 208 may indicate an intended trajectory ofthe vehicle 102. The intended trajectory refers to an anticipated pathto be taken by a vehicle 102. As compared to the path history typicallyincluded within a BSM that relates to the past travel of the vehicle102, the intended trajectory is an estimated path for the vehicle 102 inthe future.

Aspects intended trajectory data 208 may vary based on the type of theroadway 116 being traversed by the vehicle 102. For instance, threedifferent settings may be utilized according to whether the trajectorydefines vehicle travel over: (i) a freeway, (ii) an urban environment,or (iii) an urban expressway. Different settings may be utilized due todifferences in the driving requirements, an example of which is shown inTable 1:

TABLE 1 Example Trajectory Data Settings Sampling Way Point TimeEnvironment Size Locations Velocity Acceleration Heading Horizon RuralS1 X_(i), Y_(i) V_(x), V_(y) A_(x), A_(y) θ T1 Urban S2 > S1 X_(i),Y_(i) V_(x), V_(y) A_(x), A_(y) θ T2 Urban S3, such that: X_(i), Y_(i)V_(x), V_(y) A_(x), A_(y) θ T3 expressway S2 < S3 ≤ S1It should be noted that the maximum index of i, herein N, may bedetermined as follows:

N=(1+floor(Time Horizon/Sampling Time))

In one non-limiting specific example, S1 may be set to 5 milliseconds,S2 may be set to 10 milliseconds, S3 may be between 5 and 10milliseconds, T1 may be set to 10 seconds, T2 may be set to 10 seconds,and T3 may be set to 10 seconds.

The type of the roadway 116 may be determined, for example, based onfactors including one or more of the following: current speed limit,number of lanes of the roadway 116, number of vehicles 102 in thecommunication range of the host vehicle 102 (the host vehicle 102 beingthe vehicle 102 creating the connected messages 120 having informationfor use in road resource conflict resolution). There may also be defaultsettings for the type of parameters, time horizon, and sampling timevalues if the type of roadway 116 cannot be determined. Or, if the typeof roadway 116 cannot be determined a default roadway type may be used.

The roadway 116 may be segmented into discrete segments using a map. Asone possibility, the map may include divisions of the roadway 116 intoarbitrary tiles. Map matching may be performed based on the map todetermine which in segment the host vehicle 102 (message sender)resides, as well as in which segments the targeted remote vehicles 102(message recipients) reside. This matching may be performed according toGPS locations of the vehicles, in comparison to the geographicboundaries of the tiles of the map of the driving site and the databaseof routes. If map information is unavailable, then the intendedtrajectory of the vehicle 102 may be estimated according to vehicle 102dynamics such as speed, yaw rate, acceleration, etc., albeit for a morelimited time horizon (e.g., 2 seconds in one example).

The target road resource data 210 may include a set of road resources122 that are to be traversed by the vehicle 102 in furtherance ofpursuing its route. The set of road resources 122 may include an orderedset of the road resources 122 in the order that the vehicle 102 mayrequest their use. In many examples, this set of the road resources 122is contiguous in space and time, although overlap of the space and/ortime of the road resources 122 may be permissible. In some examples, theroute of the vehicle 102 may be specified as a plurality of trajectoryway points along the roadway 116. In such an example, the target roadresource data 210 may include the set of road resources 122 that overlapwith the trajectory way points.

When a vehicle 102 makes a maneuver sharing request, the vehicle 102 isvying for a single road resource 122 or multiple contiguous roadresources 122. A conflict may arise when two or more vehicles 102contend for a common road resource 122 or road resources 122 thatpartially overlap. For maneuver sharing between vehicles 102 involvinghuman drivers, due to a lack of precision and uncertainty about driverresponse, the trajectory and the road resources 122 may overlap.

A conflict between vehicles 102 may be detected as an overlap or acrisscross of intended trajectories of the vehicles 102. Or, a conflictmay be detected as an overlap of the target road resources 122.

FIG. 3 illustrates an example 300 of a maneuver of a lane change type.As shown, a host vehicle 302 is a vehicle 102 from who's perspective asituation may be discussed. Also as shown, a remote vehicle 304 is avehicle 102 remote from the host vehicle 302 from the perspective of thehost vehicle 302. Here, host vehicle 302 is traversing an anticipatedtrajectory indicated by a set of white markers. Additionally, a remotevehicle 304 is traversing an anticipated trajectory indicated by a setof shaded markers. More specifically, at time indices 0≤t≤2, the hostvehicle 302 anticipates requiring use of road resource 122-1, at timeindices 2≤t≤4, the host vehicle 302 anticipates requiring use of roadresource 122-2, and at time indices 4≤t≤6, the host vehicle 302anticipates requiring use of road resource 122-3. It can be seen thatthe anticipated trajectory of the remote vehicle 304 also may requireuse of the road resource 122-3.

FIG. 4 illustrates an example 400 of a maneuver of a lane merge type. Asshown again, a host vehicle 302 is traversing an anticipated trajectoryindicated by a set of white markers, while a remote vehicle 304 istraversing an anticipated trajectory indicated by a set of shadedmarkers. At time indices 4≤t≤6, the host vehicle 302 and the remotevehicle 304 each anticipate requiring use of road resource 122.

FIG. 5 illustrates an example 500 of a maneuver of an intersectioncrossing type. As shown again, a host vehicle 302 is traversing ananticipated trajectory indicated by a set of white markers, while aremote vehicle 304 is traversing an anticipated trajectory indicated bya set of shaded markers. At time indices 6≤t≤8, the host vehicle 302 andthe remote vehicle 304 each anticipate requiring use of road resource122.

Thus, in each of these scenarios, the host vehicle 302 intends to occupyroad resources 122 (e.g., a single road resource 122 in lane merge orintersection traversal but a set of road resources 122 for a lanechange) for a given time intervals t (shown in seconds). The vehicle 302accordingly has an anticipated trajectory shown as circles as way pointsfor that path. Also in each scenario, a single remote vehicle (RV) 304also contends for that road resource 122 with its own crossingtrajectory.

Accordingly, a determination is to be made with respect to which of thevehicles 302 or 304 wins the contended road space for the requestedtime. This winner is allocated the road resource(s) 122. Note that theremay be other factors that determine the winner besides urgency andpriority. However, these factors may not need to be communicated and maybe instead deduced by each individual vehicle 102 for itself. Thesefactors may include one or more of: momentum, a randomly generatednumber as a tie breaker, an objective derived from speed, acceleration,weight, urgency, etc.

FIG. 6 illustrates an example aspect 600 of a road resource conflictresolution process with respect to vehicle momentum. In an example, theaspect 600 may be utilized with respect to identifying a winner vehicle102 for allocation of road resources 122. As described, the process isbeing performed by the host vehicle 302. However, it should be notedthat the process is also being independently performed by any remotevehicles 304 also involved in a traffic situation.

At operation 602, the host vehicle 302 identifies a contested roadresource 122 between the host vehicle 302 and a remote vehicle 304. Inan example, the host vehicle 302 may receive connected messages 120 fromthe remote vehicle 304 including information for use in road resourceconflict resolution. This information may include, as an example,vehicle momentum data 202, priority data 204, urgency data 206, intendedtrajectory data 208, and target road resource data 210. Based on theintended trajectory data 208 and/or road resource data 210, the hostvehicle 302 may identify one or more road resources 122 that arerequired by both the host vehicle 302 and the remote vehicle 304.

At operation 604, the host vehicle 302 computes a difference between themomentum of the host vehicle 302 and the momentum of the remote vehicle304. The information with respect to the momentum of the host vehicle302 may be identified by the host vehicle 302 according to the dynamicsof the vehicle 302, such as speed, turning rate (yaw), and accelerationalong with its mass. The information with respect to the momentum of theremote vehicle 304 may be identified from the vehicle momentum data 202included in the connected messages 120 received from the remote vehicle304. The difference between these two values may be computed using aprocessor of the vehicle 302.

At operation 606, the host vehicle 302 determines whether the hostvehicle 302 momentum exceeds the remote vehicle 304 momentum by at leasta threshold level of momentum difference. In an example, the thresholdlevel of momentum difference may be set empirically. If so, controlpasses to operation 608 to grant the host vehicle 302 access to the oneor more road resources 122 that are required by both the host vehicle302 and the remote vehicle 304. If not, at operation 610, the hostvehicle 302 determines whether the remote vehicle 304 momentum exceedsthe host vehicle 302 momentum by at least the threshold level ofmomentum difference. If so, control passes to operation 612 to grant theremote vehicle 304 access to the one or more road resources 122.

If, however, neither the host vehicle 302 nor the remote vehicle 304exceeds the threshold level of momentum difference, then momentum beyonda threshold amount may not be a deciding factor on which of the vehicles302, 304 should be granted access to the one or more road resources 122.If so, another aspect may be utilized to grant access to the one or moreroad resources 122.

FIG. 7 illustrates an example aspect 700 of a road resource conflictresolution process with respect to vehicle urgency. In an example,following from index (A) in the aspect 600 shown in FIG. 6, control maycontinue to attempt to utilize vehicle urgency as a deciding factor inthe granting of access to the one or more road resources 122.

At operation 702, the host vehicle 302 computes a difference between theurgency of the host vehicle 302 and the urgency of the remote vehicle304. The information with respect to the urgency of the host vehicle 302may be identified by the host vehicle 302 according to a distance and/oran estimated time before which the vehicle intends to perform themaneuver. The urgency data 206 may also include other optionalinformation with respect to the circumstances of the maneuver, asmentioned above. The information with respect to the urgency of theremote vehicle 304 may be identified from the urgency data 206 includedin the connected messages 120 received from the remote vehicle 304. Thedifference between these two values may be computed using a processor ofthe vehicle 302.

At operation 704, the host vehicle 302 determines whether the hostvehicle 302 urgency exceeds the remote vehicle 304 urgency by at least athreshold level of urgency difference. In an example, the thresholdlevel of urgency difference may be set empirically. If so, controlpasses to operation 706 to grant the host vehicle 302 access to the oneor more road resources 122 that are required by both the host vehicle302 and the remote vehicle 304. If not, at operation 708, the hostvehicle 302 determines whether the remote vehicle 304 urgency exceedsthe host vehicle 302 urgency by at least the threshold level of urgencydifference. If so, control passes to operation 710 to grant the remotevehicle 304 access to the one or more road resources 122.

If, however, neither the host vehicle 302 nor the remote vehicle 304exceeds the threshold level of urgency difference, then urgency beyond athreshold amount may not be a deciding factor on which of the vehicles302, 304 should be granted access to the one or more road resources 122.If so, another aspect may be utilized to grant access to the one or moreroad resources 122.

FIG. 8 illustrates an example aspect 800 of a road resource conflictresolution process with respect to vehicle priority. In an example,following from index (B) in the aspect 700 shown in FIG. 7, control maycontinue to attempt to utilize vehicle priority as a deciding factor inthe granting of access to the one or more road resources 122.

At operation 802, the host vehicle 302 computes a difference between thepriority of the host vehicle 302 and the priority of the remote vehicle304. The information with respect to the priority of the host vehicle302 may be identified by the host vehicle 302 according to variousfactors such as type of vehicle 102, whether or not the vehicle 102 isan emergency vehicle 102, size of vehicle 102, and/or number ofoccupants of the vehicle 102, as mentioned above. The information withrespect to the priority of the remote vehicle 304 may be identified fromthe priority data 206 included in the connected messages 120 receivedfrom the remote vehicle 304. The difference between these two values maybe computed using a processor of the vehicle 302.

At operation 804, the host vehicle 302 determines whether the hostvehicle 302 priority exceeds the remote vehicle 304 priority by at leasta threshold level of priority difference. In an example, the thresholdlevel of priority difference may be set empirically. If so, controlpasses to operation 806 to grant the host vehicle 302 access to the oneor more road resources 122 that are required by both the host vehicle302 and the remote vehicle 304. If not, at operation 808, the hostvehicle 302 determines whether the remote vehicle 304 priority exceedsthe host vehicle 302 priority by at least the threshold level ofpriority difference. If so, control passes to operation 810 to grant theremote vehicle 304 access to the one or more road resources 122.

If, however, neither the host vehicle 302 nor the remote vehicle 304exceeds the threshold level of priority difference, then priority beyonda threshold amount may not be a deciding factor on which of the vehicles302, 304 should be granted access to the one or more road resources 122.If so, another aspect may be utilized to grant access to the one or moreroad resources 122.

FIG. 9 illustrates an example aspect 900 of a road resource conflictresolution process with respect to tiebreakers. In an example, followingfrom index (C) in the aspect 800 shown in FIG. 8, various otherdeterminations may be made to attempt to determine a winner between thevehicle 302 and the vehicle 304 to use as a deciding factor in thegranting of access to the one or more road resources 122.

As shown, at operation 902, the host vehicle 302 determines whether thevehicle priority of the host vehicle 302 is greater than the vehiclepriority of the remote vehicle 304. Notably this determination is madewithout regard to the priority threshold. Thus, a determination here mayinvolve a more subtle difference in priority between the host vehicle302 and the remote vehicle 304 than used in the aspect 800. If the hostvehicle 302 has greater priority, control passes to operation 904 togrant the host vehicle 302 access to the one or more road resources 122.

If not, control continues to operation 906 to determine whether thevehicle priority of the remote vehicle 304 is greater than the vehiclepriority of the host vehicle 302. If so, control passes to operation 908to grant the remote vehicle 304 access to the one or more road resources122.

If the priorities between the host vehicle 302 and the remote vehicle304 are identical as quantified, control passes to operation 910 todetermine whether the host vehicle 302 urgency is greater than theurgency of the remote vehicle 304. As no urgency threshold is used,determination here may involve a more subtle difference in urgencybetween the host vehicle 302 and the remote vehicle 304 than used in theaspect 700. If the host vehicle 302 has greater urgency, control passesto operation 912 to grant the host vehicle 302 access to the one or moreroad resources 122.

If not, control continues to operation 914 to determine whether thevehicle urgency of the remote vehicle 304 is greater than the vehicleurgency of the host vehicle 302. If so, control passes to operation 916to grant the remote vehicle 304 access to the one or more road resources122.

If the urgencies between the host vehicle 302 and the remote vehicle 304are identical as quantified, control passes to operation 918 todetermine whether another tiebreaker between the host vehicle 302 andthe remote vehicle 304 may be used to determine which vehicle 102 shouldgain access. As one example, a pseudorandom number may be generated byboth the host vehicle 302 and the remote vehicle 304, seeded by the sameinitial value to produce identical results, where the pseudorandomnumber is used as a tiebreaker based on its value. The seed for therandom number generation may be identical between the two vehicles 102to come to the same outcome, where it may be based on a hash of the twovehicle's positions as mutually identified by the vehicle 102 itself andvia the connected messages 120.

Thus, the aforementioned approach to road resource conflict resolutionis guided by certain principles. If the momentum is too high for avehicle 102, physics should dictate giving it the road resource 122since changing the momentum may be difficult. Secondly, if the momentaare similar, then if the urgency is high for one vehicle 102 then thatshould be given precedence. Finally, if both the momenta and urgenciesare similar then priority should be given precedence in assigning awinner. Variations on this approach are possible, however. For instance,a different ordering of the momentum, urgency, and/or priority may beused in making the determination.

As another variation, tuples including a plurality of factors (e.g.,priority, urgency, momentum, random number, etc.) may be scored ascombinations. This scoring may be performed for each host vehicle 302and each conflicting remote vehicle 304, wherein the scoring isperformed by a combining of the fields of the tuple into a score valuefor each vehicle 102. For example, the following example approach may beused:

Score=h1*priority+h2*urgency+h3*momentum+h4*randomNumber;

where h1, h2, h3, and h4 are weights for the tuple values consistentlyapplies across the vehicles 102. As above, the seed for the randomnumber generation may be identical between the two vehicles 102 to cometo the same outcome, where it may be based on a hash of the twovehicle's positions as mutually identified by the vehicle 102 itself andvia the connected messages 120. Using the score, the vehicle 102 withthe highest score may be granted access to the one or more contestedroad resources 122.

It should also be noted that the described approaches to road resourceconflict resolution may be used for situations involving more than twovehicles 102. For instance, when handling the conflict, each vehicle 102can iteratively run the conflict resolution algorithm against all theother vehicles 102 to determine a final winner. Since all variables areknown to all participants, only one vehicle 102 will be the winner,wither using the aforementioned nested algorithm or the tuple scoringalgorithm to identify the vehicle 102 having the highest score.

The processes, methods, or algorithms disclosed herein can bedeliverable to/implemented by a processing device, controller, orcomputer, which can include any existing programmable electronic controlunit or dedicated electronic control unit. Similarly, the processes,methods, or algorithms can be stored as data and instructions executableby a controller or computer in many forms including, but not limited to,information permanently stored on non-writable storage media such as ROMdevices and information alterably stored on writeable storage media suchas floppy disks, magnetic tapes, CDs, RAM devices, and other magneticand optical media. The processes, methods, or algorithms can also beimplemented in a software executable object. Alternatively, theprocesses, methods, or algorithms can be embodied in whole or in partusing suitable hardware components, such as Application SpecificIntegrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs),state machines, controllers or other hardware components or devices, ora combination of hardware, software and firmware components.

While exemplary embodiments are described above, it is not intended thatthese embodiments describe all possible forms encompassed by the claims.The words used in the specification are words of description rather thanlimitation, and it is understood that various changes can be madewithout departing from the spirit and scope of the disclosure. Aspreviously described, the features of various embodiments can becombined to form further embodiments of the invention that may not beexplicitly described or illustrated. While various embodiments couldhave been described as providing advantages or being preferred overother embodiments or prior art implementations with respect to one ormore desired characteristics, those of ordinary skill in the artrecognize that one or more features or characteristics can becompromised to achieve desired overall system attributes, which dependon the specific application and implementation. These attributes caninclude, but are not limited to cost, strength, durability, life cyclecost, marketability, appearance, packaging, size, serviceability,weight, manufacturability, ease of assembly, etc. As such, to the extentany embodiments are described as less desirable than other embodimentsor prior art implementations with respect to one or morecharacteristics, these embodiments are not outside the scope of thedisclosure and can be desirable for particular applications.

With regard to the processes, systems, methods, heuristics, etc.described herein, it should be understood that, although the steps ofsuch processes, etc. have been described as occurring according to acertain ordered sequence, such processes could be practiced with thedescribed steps performed in an order other than the order describedherein. It further should be understood that certain steps could beperformed simultaneously, that other steps could be added, or thatcertain steps described herein could be omitted. In other words, thedescriptions of processes herein are provided for the purpose ofillustrating certain embodiments and should in no way be construed so asto limit the claims.

Accordingly, it is to be understood that the above description isintended to be illustrative and not restrictive. Many embodiments andapplications other than the examples provided would be apparent uponreading the above description. The scope should be determined, not withreference to the above description, but should instead be determinedwith reference to the appended claims, along with the full scope ofequivalents to which such claims are entitled. It is anticipated andintended that future developments will occur in the technologiesdiscussed herein, and that the disclosed systems and methods will beincorporated into such future embodiments. In sum, it should beunderstood that the application is capable of modification andvariation.

All terms used in the claims are intended to be given their broadestreasonable constructions and their ordinary meanings as understood bythose knowledgeable in the technologies described herein unless anexplicit indication to the contrary in made herein. In particular, useof the singular articles such as “a,” “the,” “said,” etc. should be readto recite one or more of the indicated elements unless a claim recitesan explicit limitation to the contrary.

The abstract of the disclosure is provided to allow the reader toquickly ascertain the nature of the technical disclosure. It issubmitted with the understanding that it will not be used to interpretor limit the scope or meaning of the claims. In addition, in theforegoing Detailed Description, it can be seen that various features aregrouped together in various embodiments for the purpose of streamliningthe disclosure. This method of disclosure is not to be interpreted asreflecting an intention that the claimed embodiments require morefeatures than are expressly recited in each claim. Rather, as thefollowing claims reflect, inventive subject matter lies in less than allfeatures of a single disclosed embodiment. Thus, the following claimsare hereby incorporated into the Detailed Description, with each claimstanding on its own as a separately claimed subject matter.

While exemplary embodiments are described above, it is not intended thatthese embodiments describe all possible forms of the invention. Rather,the words used in the specification are words of description rather thanlimitation, and it is understood that various changes may be madewithout departing from the spirit and scope of the invention.Additionally, the features of various implementing embodiments may becombined to form further embodiments of the invention.

What is claimed is:
 1. A vehicle for performing road resource conflictresolution, comprising: a transceiver; and a processor of the vehicle,programmed to identify, according to one or more maneuver sharing intentmessages received to the vehicle via the transceiver, a road resourcethat is contested between the vehicle and one or more other vehicles,the road resource including a portion of a roadway to be traversed bythe vehicle and also the one or more other vehicles, perform a conflictresolution procedure to determine whether the vehicle gains access tothe road resource, wherein the conflict resolution procedure isindependently performed by each of the vehicle and the one or more othervehicles, and grant one of the vehicle or the one or more other vehiclesaccess to the road resource based on the conflict resolution procedure.2. The vehicle of claim 1, wherein the one or more maneuver sharingintent messages are broadcast by the one or more other vehicles, each ofthe one or more maneuver sharing intent messages including data withrespect to a sender of the respective connected message, the dataindicating a momentum of the sender, a priority of the sender, anurgency of the sender, an intended trajectory of the sender, and roadresources required for use by the sender.
 3. The vehicle of claim 2,wherein samples per unit time and a time horizon of the intendedtrajectory of the sender vary according to whether the vehicle istraversing a rural roadway, an urban roadway, or an urban expresswayroadway.
 4. The vehicle of claim 2, wherein: the momentum is determinedaccording to one or more of vehicle speed, vehicle yaw, vehicleacceleration, or vehicle mass; the priority is determined according toone or more of a type of the vehicle, a size of the vehicle, or aquantity of passengers of the vehicle; and the urgency is determinedaccording one or more of distance until the vehicle intends to perform amaneuver requiring the road resource, time until the vehicle intends toperform the maneuver requiring the road resource, or an indication of asituation requiring performance of the maneuver.
 5. The vehicle of claim4, wherein the situation includes one or more of: (i) a slow vehicleahead, (ii) a ramp ahead, (iii) an exit to be taken ahead, (iv) roadconstruction ahead, (v) a stopped vehicle ahead, or (vi) debris/potholeahead.
 6. The vehicle of claim 1, wherein the conflict resolutionprocedure includes to: if one of the vehicles has a momentum greaterthan a threshold momentum amount more than the other vehicles, grantthat vehicle access to the road resource and deny other vehicles accessto the road resource; if not, and if one of the vehicles has an urgencygreater than a threshold urgency amount more than the other vehicles,grant that vehicle access to the road resource and deny other vehiclesaccess to the road resource; and if not, and if one of the vehicles hasa priority greater than a threshold priority amount more than the othervehicles, grant that vehicle access to the road resource and deny othervehicles access to the road resource.
 7. The vehicle of claim 6, whereinthe conflict resolution procedure further includes to: if one of thevehicles has greater priority amount than the other vehicles, grant thatvehicle access to the road resource and deny other vehicles access tothe road resource; if not, if one of the vehicles has greater urgencyamount than the other vehicles, grant that vehicle access to the roadresource and deny other vehicles access to the road resource; and ifnot, grant access to one of the vehicles pseudorandomly using a seeddetermined according to positions of the vehicles.
 8. The vehicle ofclaim 1, wherein the conflict resolution procedure includes to:determine, for each of the other vehicles, a score based on a weightingof data included in one of the maneuver sharing intent messagescorresponding to the other vehicle, the data being weighted includingmomentum of a sender of the one of the maneuver sharing intent messages,priority of the sender, and urgency of the sender; determine, for thevehicle, a score based on data available to the vehicle, the dataincluding momentum of the vehicle, priority of the vehicle, and urgencyof the vehicle; and grant the vehicle having the greatest score accessto the road resource and deny other vehicles access to the roadresource.
 9. The vehicle of claim 1, wherein the processor is furtherprogrammed to: direct the vehicle to utilize the road resourceresponsive to the conflict resolution procedure deeming the vehicle tohave access to the road resource; and direct the vehicle not to utilizethe road resource responsive to the conflict resolution proceduredeeming another vehicle to have access to the road resource.
 10. Amethod for performing road resource conflict resolution, comprising:identifying, according to one or more maneuver sharing intent messagesreceived to the vehicle via a transceiver of a vehicle, a road resourcethat is contested between the vehicle and one or more other vehicles,the road resource including a portion of a roadway to be traversed bythe vehicle and also the one or more other vehicles; performing aconflict resolution procedure to determine whether the vehicle gainsaccess to the road resource, wherein the conflict resolution procedureis independently performed by each of the vehicle and the one or moreother vehicles; granting one of the vehicle or the one or more othervehicles access to the road resource based on the conflict resolutionprocedure; directing the vehicle to utilize the road resource responsiveto the conflict resolution procedure deeming the vehicle to have accessto the road resource; and directing the vehicle not to utilize the roadresource responsive to the conflict resolution procedure deeming anothervehicle to have access to the road resource.
 11. The method of claim 10,wherein the one or more maneuver sharing intent messages are broadcastby the one or more other vehicles, each of the one or more maneuversharing intent messages including data with respect to a sender of therespective connected message, the data indicating a momentum of thesender, a priority of the sender, an urgency of the sender, an intendedtrajectory of the sender, and road resources required for use by thesender.
 12. The method of claim 11, wherein samples per unit time and atime horizon of the intended trajectory of the sender vary according towhether the vehicle is traversing a rural roadway, an urban roadway, oran urban expressway roadway.
 13. The method of claim 11, wherein: themomentum is determined according to one or more of vehicle speed,vehicle yaw, vehicle acceleration, or vehicle mass; the priority isdetermined according to one or more of a type of the vehicle, a size ofthe vehicle, or a quantity of passengers of the vehicle; and the urgencyis determined according one or more of distance until the vehicleintends to perform a maneuver requiring the road resource, time untilthe vehicle intends to perform the maneuver requiring the road resource,or an indication of a situation requiring performance of the maneuver.14. The method of claim 13, wherein the situation includes one or moreof: (i) a slow vehicle ahead, (ii) a ramp ahead, (iii) an exit to betaken ahead, (iv) road construction ahead, (v) a stopped vehicle ahead,or (vi) debris/pothole ahead.
 15. The method of claim 10, wherein theconflict resolution procedure includes to: if one of the vehicles has amomentum greater than a threshold momentum amount more than the othervehicles, grant that vehicle access to the road resource and deny othervehicles access to the road resource; if not, and if one of the vehicleshas an urgency greater than a threshold urgency amount more than theother vehicles, grant that vehicle access to the road resource and denyother vehicles access to the road resource; and if not, and if one ofthe vehicles has a priority greater than a threshold priority amountmore than the other vehicles, grant that vehicle access to the roadresource and deny other vehicles access to the road resource.
 16. Themethod of claim 15, wherein the conflict resolution procedure furtherincludes to: if one of the vehicles has greater priority amount than theother vehicles, grant that vehicle access to the road resource and denyother vehicles access to the road resource; if not, if one of thevehicles has greater urgency amount than the other vehicles, grant thatvehicle access to the road resource and deny other vehicles access tothe road resource; and if not, grant access to one of the vehiclespseudorandomly using a seed determined according to positions of thevehicles.
 17. The method of claim 10, wherein the conflict resolutionprocedure includes to: determine, for each of the other vehicles, ascore based on a weighting of data included in one of the maneuversharing intent messages corresponding to the other vehicle, the databeing weighted including momentum of a sender of the one of the maneuversharing intent messages, priority of the sender, and urgency of thesender; determine, for the vehicle, a score based on data available tothe vehicle, the data including momentum of the vehicle, priority of thevehicle, and urgency of the vehicle; and grant the vehicle having thegreatest score access to the road resource and deny other vehiclesaccess to the road resource.
 18. A non-statutory computer-readablemedium comprising instructions that, when executed by a processor of avehicle, cause the vehicle to perform operations including to: identify,according to one or more maneuver sharing intent messages received tothe vehicle via a transceiver of a vehicle, a road resource that iscontested between the vehicle and one or more other vehicles, the roadresource including a portion of a roadway to be traversed by the vehicleand also the one or more other vehicles, wherein the one or moremaneuver sharing intent messages are broadcast by the one or more othervehicles, each of the one or more maneuver sharing intent messagesincluding data with respect to a sender of the respective connectedmessage, the data indicating a momentum of the sender, a priority of thesender, an urgency of the sender, an intended trajectory of the sender,and road resources required for use by the sender; perform a conflictresolution procedure to determine whether the vehicle gains access tothe road resource, wherein the conflict resolution procedure isindependently performed by each of the vehicle and the one or more othervehicles; grant one of the vehicle or the one or more other vehiclesaccess to the road resource based on the conflict resolution procedure;direct the vehicle to utilize the road resource responsive to theconflict resolution procedure deeming the vehicle to have access to theroad resource; and direct the vehicle not to utilize the road resourceresponsive to the conflict resolution procedure deeming another vehicleto have access to the road resource.
 19. The medium of claim 18, furthercomprising instructions that, when executed by the processor of thevehicle, cause the vehicle to perform operations including to: if one ofthe vehicles has a momentum greater than a threshold momentum amountmore than the other vehicles, granting that vehicle access to the roadresource and denying other vehicles access to the road resource; if not,and if one of the vehicles has an urgency greater than a thresholdurgency amount more than the other vehicles, granting that vehicleaccess to the road resource and denying other vehicles access to theroad resource; if not, and if one of the vehicles has a priority greaterthan a threshold priority amount more than the other vehicles, grantingthat vehicle access to the road resource and denying other vehiclesaccess to the road resource; if one of the vehicles has greater priorityamount than the other vehicles, granting that vehicle access to the roadresource and deny other vehicles access to the road resource; if not, ifone of the vehicles has greater urgency amount than the other vehicles,granting that vehicle access to the road resource and denying othervehicles access to the road resource; and if not, granting access to oneof the vehicles pseudorandomly using a seed determined according topositions of the vehicles.